Patent application title: METHOD FOR SIGNAL CONDITIONING

Abstract:

A method for signal conditioning of signals from a two-dimensional image
by calculating the motion of an image in relation to an image plane.
Two-dimensional structures in the image are correlated between images
separated in time, using Radon transforms for two or more angles in order
to reduce the correlation calculations from two-dimensional correlation
to correlation of two or more one-dimensional projections. The
one-dimensional projections are differentiated to obtain the gradients of
the projections as the basis for the correlation of images separated in
time and signal conditioning. The magnitude of the gradients of the
projections is ignored and the sign value of the gradients is used for a
binary representation as the basis for the correlation of images
separated in time.

Claims:

1. A method for signal conditioning of signals from a two-dimensional
image, the method comprising:calculating the motion of the image in
relation to an image plane,correlating the images that are separated in
time using Radon transforms calculated all over the image for at least
two angles in order to reduce a two-dimensional correlation problem to
correlation of at least two one-dimensional projections,
anddifferentiating the one-dimensional projections in order to obtain the
gradients of the projections as the basis for the correlation of images
separated in time and signal conditioning,wherein the correlation of
images separated in time is carried out independent of the absolute
signal strength for the different part of a scene based upon the
gradients of the projections.

2. The method according to claim 1, wherein the magnitude of the gradients
of the projections is ignored and wherein the sign values of the
gradients are used for a binary representation as the basis for the
correlation of images separated in time.

3. The method according to claim 1, wherein the binary value 1 is
allocated to a positive gradient and the binary value 0 is allocated to a
negative gradient and a zero gradient.

4. The method according to claim 1, wherein video signals from IR
detectors are signal conditioned.

5. The method according to claim 4, wherein the signal conditioning is
carried out in real time.

Description:

[0001]The present invention relates to a method for signal conditioning of
signals from a two-dimensional image by calculating motion of the image
in relation to an image plane, with images separated in time being
correlated, using Radon transforms calculated for at least two angles to
reduce the correlation of a two-dimensional image to correlation of at
least two one-dimensional projections.

[0002]For signal conditioning of two-dimensional signals in general and
video signals from IR detectors in particular, it is of value to be able
to calculate motion of the image in relation to the image plane. Motion
can arise as a result of the camera moving or as a result of something
moving in the imaged scene. If the relative motion between images of the
same scene taken at different times is known, a number of operations can
be carried out in order to improve the image quality. In this way, a
visually more attractive image can be obtained for an operator and, in
favourable conditions, it is also possible to extract more information
from the image than what would have been possible if the motion were not
known.

[0003]For video applications, it is of particular interest to be able to
improve the image in real time, with minimal delay before the image
becomes available to an operator. An effective motion estimation
algorithm therefore needs to be able to calculate the motion in real
time. In order for this to be possible, the algorithm needs to be adapted
in order to be able to be implemented in such hardware as is available in
a video system. An FPGA (Field Programmable Gate Array) or DSP (Digital
Signal Processing) is normally used to carry out the mathematical
operations on image data.

[0004]The most common motion estimation methods are based on correlation
between two-dimensional structures in the image. These methods are
usually defined as being of the "block matching" type and consist simply
of partial images ("blocks") in an image being identified in another
image by calculating the correlation between blocks in the two images.
The true position of this partial image is assumed to have been found
when the best correlation is achieved. In this way, the motion can be
calculated.

[0005]These methods are simple but relatively calculation-intensive. They
are also considered to be generally unsuitable for IR, as, with the use
of small blocks, they are relatively sensitive to noise. The methods
generally fail for scenes with low contrast in which many blocks lack
signal content that can be correlated.

[0006]A way of reducing the calculation burden and at the same time making
the motion estimation less sensitive to noise is to use the Radon
transform. The Radon transform is the line integral through a particular
point at a particular angle. If only the angles 0° and 90°
are used, the transform reduces a two-dimensional image to two
one-dimensional projections. The first projection vector is just the sum
of the values calculated column by column and the second projection is
the sum of the values calculated row by row. For a two-dimensional image
with M×N image points, the problem of correlating M*N values is
then replaced by only correlating M+N data. This results in a
considerable reduction in the number of operations that need to be
carried out. In addition, variations in the form of temporal noise from
one image to another do not usually have any effect, as the sum of a
column or row contains a large number of image points with mutually
independent temporal noise.

[0007]The method described above has been known for a long time. A large
number of variants of the abovementioned principle are described in
scientific publications.

[0009]A problem with projection methods is that local changes in the scene
can distort the projection, for example when one or more objects in the
image have a motion in relation to the background. This is particularly
obvious in IR applications where moving objects, such as persons, cars,
aircraft, etc, often have a high temperature and hence give rise to a
high detector signal in relation to the background. When the simplest
measure of correlation, that is vector distance or the sum of the
absolute differences, is used, motion of objects with high signal
strength will give a large value in the correlation. There is then a risk
that the motion of the object is calculated instead of the motion of the
background or of the camera, which makes image-improving temporal
filtering more difficult, as the same point in the scene can not be
identified in images taken at different times.

[0010]An object of the present invention is to achieve a method that is
less sensitive to influence from objects with motion relative to the
background in situations described in the previous paragraph.

[0011]The object of the invention is achieved by a method according to the
first paragraph, characterized in that the one-dimensional projections
are differentiated to obtain the gradients of the projections as a basis
for correlation of images separated in time and signal conditioning. By
means of the differentiation of the projections, they are made
independent of the absolute signal strength for the different parts of
the scene. The two one-dimensional vectors are replaced by two vectors
that describe the gradient of the projection. If the detector is assumed
to have a linear response, these gradient values will be independent of
signal level/offset. Simulations that have been carried out also show
that the gradient values are more robust when there are moving objects in
the scene.

[0012]When the moving objects take up a large part of image area, it is
often the case that the objects' internal dynamics are also higher than
for the background. The moving objects have thus steeper internal
gradients. The problem of these objects having disproportionably large
values in the correlation for their size thus remains, although to a
smaller extent. A solution to this is to ignore the magnitude of the
gradients and to use a binary representation of the gradient. According
to an advantageous further development of the method, the magnitude of
the gradients of the projections is therefore ignored and the sign value
of the gradients is used for a binary representation as a basis for the
correlation of images separated in time.

[0013]According to yet another advantageous further development of the
method, the binary value 1 is allocated when the gradient is positive and
the binary value 0 is allocated to a negative gradient and a zero
gradient. As a result of this further development, it is the case that:

[0015]2 The algorithm is independent of global changes in response of the
detector. This is particularly valuable for non-temperature-stabilized IR
systems or systems with considerable global 1/f noise.

[0016]3 The algorithm is very robust against relative motion of objects,
provided that these do not take up a very large part of the imaged scene.
This is in order that each element in the two one-dimensional
projections, transformed and converted to binary values, is given equal
weight in the correlation, the weight 1. When objects with motion in
relation to the background are very large, it is perhaps their motion
that is detected as the background is largely obscured.

[0017]4 The algorithm is particularly suitable for implementation in
hardware as we are now working with binary data in the normally
calculation-intensive correlation. The problem is reduced from
correlation of M*N 16-bit numbers to correlation of M+N numbers of 1 bit
each. This corresponds to a reduction in the quantity of data by a factor
of >4000 times. In order to calculate the motion between two images,
all possible motion in the horizontal and vertical direction must be
considered and hence the correlation calculations need to be repeated a
large number of times. The total number of operations that needs to be
carried out in order to calculate the motion is therefore very large and
the reduction that can be achieved by reducing the quantity of data is
therefore of great importance.

[0018]By the introduction of differentiation and conversion to binary
values of one-dimensional projections obtained by Radon transforms, the
original advantage is retained, namely that the method can cope with a
lot of noise when working with very large sets of data where the effects
of harmless normally-distributed noise in principle cancel each other
out.

[0019]The signal conditioning according to the method is advantageously
carried out on video signals from JR detectors. In addition, the method
is carried out in real time.

[0020]The invention will be described below in greater detail with
reference to the attached drawings, in which:

[0021]FIG. 1 shows an example of an image and horizontal and vertical
projections associated with the image.

[0022]FIG. 2 shows the gradients for the horizontal and vertical
projections according to FIG. 1.

[0023]FIG. 3 shows the gradients according to FIG. 2 converted to binary
values with only the values 0 or 1.

[0024]FIG. 4 shows, in the form of a table, an example of data converted
to binary values from two images with motion between them, and their
correlation.

[0025]FIG. 5 illustrates schematically, in the form of a block diagram,
the process steps that can be included in a method for signal
conditioning according to the principles of the invention.

[0026]FIG. 1 shows a two-dimensional image. The vertical projection of the
image is shown below the image. The vertical projection is obtained by a
Radon transform for the angle 90°, creating a projection vector
that is the sum of the values from the image calculated column by column.
A horizontal projection of the image is shown to the right of the image.
The horizontal projection is obtained by a Radon transform for the angle
0°, creating a projection vector that is the sum of values from
the image calculated row by row.

[0027]According to our preferred method, two projection vectors, of the
type that is shown in FIG. 1 and obtained by Radon transform in at least
two directions (for example 0 and 90 degrees), are differentiated. The
gradients of the projections after differentiation are shown in FIG. 2.

[0028]After differentiation, the projection vectors are converted to
binary values in such a way that the gradient at a point n in the
horizontal projection and the gradient at a point m in the vertical
projection are allocated the binary value 1 if the gradient is positive
and the binary value 0 if the gradient is negative or zero. The result of
converting the differentiated projection vectors to binary values is
shown in FIG. 3.

[0029]The table in FIG. 4 (row 1) shows examples of how a horizontal (or
vertical) projection in an image is allocated the binary values 1 or 0
and (row 2 in the table) corresponding values from the same projection
from an image taken at a different time. An exclusive NOT OR operator
(XNOR) is used as an effective correlation operator.

[0030]FIG. 5 illustrates schematically, in the form of a block diagram,
process steps that can be included in the method for signal conditioning.
In this case, there is an IR detector 1 for image recording. In block 2,
the image provided by the IR detector in two-dimensional form undergoes a
Radon transform in two or possibly more directions and, for example, a
vertical and a horizontal projection can be obtained. In block 3, the
projections undergo differentiation. After differentiation, in an
additional step illustrated by block 4, the sign values of the
derivatives can be determined and used as the basis for a conversion to
binary values, in which a positive sign value can correspond to the
binary value 1 and a negative value or zero value can correspond to the
binary value 0. Using as a basis the sign values that were obtained,
images separated in time can be correlated, which is illustrated in block
5. In block 6, the image-correlating information is then used for signal
conditioning of the image in question, and the image is then displayed,
block 7, for example on a display.

[0031]The invention is not limited to the embodiments described above as
examples, but can be modified within the framework of the following
claims.